Development of a high speed and precision wire clamp with both position and force regulations

Liang, Cunman; Wang, Fujun; Tian, Yanling; Zhao, Xingyu; Zhang, Dawei

doi:10.1016/j.rcim.2016.09.006

Cited by 40 publications

(12 citation statements)

References 32 publications

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“…23 However, the chattering phenomenon is still one of the unsolved issues in the SMC system. Many control strategies have been introduced to suppress the chattering phenomenon, such as high-order sliding mode strategy, 24 digital sliding mode scheme, 25 boundary layer method, 26 and uncertainty and disturbance estimation (UDE) technique. 27 Among these proposed techniques, UDE is a simple and effective way to reduce chattering without complex control model, and thus, it is increasingly utilized in SMC implementation.…”

Section: Article Scitationorg/journal/rsimentioning

confidence: 99%

Modeling and control methodology for an XYZ micro manipulator

Tian

et al. 2019

Review of Scientific Instruments

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This paper presents the modeling and control methodology for a piezoactuated compliant XYZ manipulator toward precision positioning. The manipulator was fabricated using a wire electrical discharge machining technique, and the system identification was conducted to obtain the dynamic model based on the frequency response. To reduce the effects of hysteresis, creep, and external disturbances, a feedforward/feedback hybrid controller is proposed, which contains a dynamic dependent Prandtl-Ishlinskii (DDPI) hysteresis model and a novel sliding mode controller. The DDPI hysteresis model has excellent modeling accuracy at high operating frequencies with consideration of the dynamic characteristics of the micromanipulator. The novel sliding mode controller integrated with uncertainty and disturbance estimation (SMCUDE) technique is developed, which has the advantages of fast response, strong robustness, and resistance to chattering. The performance of the DDPI hysteresis model and the novel sliding mode controller is validated and compared using experimental tests. The experimental results indicate that the DDPI model provides better positioning accuracy than the traditional Prandtl-Ishlinskii (P-I) model and the rate-dependent P-I model, and furthermore, the SMCUDE controller can improve the response speed without loss of stability, which demonstrates that precision positioning operations can be implemented by the developed manipulator using the proposed control strategy.

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Section: Article Scitationorg/journal/rsimentioning

confidence: 99%

Modeling and control methodology for an XYZ micro manipulator

Tian

et al. 2019

Review of Scientific Instruments

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“…So the flexible beam can be regarded as a leafspring flexible hinge and the stiffness matrix analysis is a quite convenient and accurate way to analyze this kind of flexible hinge. 30,31 The global coordinate of the suspension mechanism is shown in Fig. 7(a), and the model of traditional leaf-type flexible hinges is displayed in Fig.…”

Section: B the Flexible Suspension Mechanismmentioning

confidence: 99%

A novel method and system for calibrating the spring constant of atomic force microscope cantilever based on electromagnetic actuation

Tian

Zhou

Wang

et al. 2018

Review of Scientific Instruments

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It is crucial to calibrate atomic force microscope (AFM) cantilevers for the development and further applications of AFM in precision engineering such as nanonewton force measurement. This paper presents a novel approach to calibrate the spring constant of AFM cantilever based on electromagnetic actuation and null position measurement. According to the method, a calibration system was designed. In order to optimize the static and dynamic characteristics of the calibration system, the analytical models for the electromagnetic force and the suspension mechanism stiffness have been developed. Finite Element Analysis (FEA) has been utilized to further investigate the precision of analytical modeling. The null position measurement method was utilized to monitor the deformation of the flexible beam, and then the deformation was compensated by the electromagnetic force. Experiments were carried out based on the developed prototype, and the results show that the electromagnetic force conversion rate is 40.08 μN/mA. Finally, a typical AFM cantilever was calibrated and the spring constant is (30.83 ± 0.24) N/m. The uncertainty of the proposed null position measurement method is better than 0.78%, which verifies the effectiveness and feasibility of the calibration method and system. I. INTRODUCTION With the rapid development of micro/nano manufacturing, more and more attention has been paid to the micro/nano newton force measurement. 1-3 Atomic force microscope (AFM) has been becoming more and more important for the measurement of the modulus of polymers, 4 the strength of chemical bonds, 5 and the intermolecular interaction force between single molecule. 6 The interaction force between the tip and the sample surface can be measured through the deflection of probe cantilever and the Hook's law. 7 Thus, the calibration of the spring constant of cantilever has become one of the major concerns, especially in the quantitative measurement of micro-scale force. 8 There are variety kinds of probes utilized with different shapes and functions. Unfortunately, the spring

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“…motor (Liu et al, 2020), and hydraulic actuator (Nie et al, 2020)), the SMA actuator has its nature advantages to reduce the dimension of the system, as well as to provide the flexible intervention with the environment; further, the stroke of the gripper has been largely improved (i.e. 14 mm vs conventional 2 mm (Liang et al, 2017)) by the new design of the actuation system (i.e. the long SMA wire was twined in a novel way to minimize the space) and novel structure of the flexible beams; then, based on the novel structure of the gripper, the new modeling method of SMA gripper, which considers the thermal effect model of SMA wire and mechanical behavior of flexible beams, was developed to study the performance of the SMA gripper comprehensively.…”

Section: Introductionmentioning

confidence: 99%

Modeling and experimental implementation of a flexible SMA wire-based gripper for confined space operation

Zhou

2022

Journal of Intelligent Material Systems and Structures

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The shape memory alloy (SMA) is increasingly utilized among many industrial and civil applications as it is small in size but mighty in output. However, most of the current SMA-based mechanisms face with the low controllability or bulk dimension. In this paper, a novel flexible SMA wire-based gripper is developed to address these challenges for improving the clamping stability and stroke for confined operation. To achieve this, the long SMA wire was spaced smartly within a miniature space to increase the output, further, to improve the stroke of the gripper (14 mm vs conventional 2 mm). Then, the theoretical model of the system was established by considering the thermal effect of SMA material and the static performance of the flexible beams. After that, the experimental setups were prototyped to crossly test the performances of the proposed SMA gripper. It can be seen from the experimental results that the model presented in this paper can be validated with high accuracy (error: 3.4%). It can also be found that the SMA gripper can realize the high tracking performances (i.e. 8.9% accuracy in displacement step response, 10.8% in displacement tracking response, and 12.1% accuracy in clamping force tracking response, respectively) for the industrial applications.

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Development of a high speed and precision wire clamp with both position and force regulations

Cited by 40 publications

References 32 publications

Modeling and control methodology for an XYZ micro manipulator

Modeling and control methodology for an XYZ micro manipulator

A novel method and system for calibrating the spring constant of atomic force microscope cantilever based on electromagnetic actuation

Modeling and experimental implementation of a flexible SMA wire-based gripper for confined space operation

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